multi_trigger_controller.h
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00035 #ifndef TRIGGER_CONTROLLER_H
00036 #define TRIGGER_CONTROLLER_H
00037 
00038 #include <ros/node_handle.h>
00039 #include <pr2_controller_interface/controller.h>
00040 #include <pr2_mechanism_model/robot.h>
00041 #include <ethercat_trigger_controllers/SetMultiWaveform.h>
00042 #include <ethercat_trigger_controllers/MultiWaveform.h>
00043 #include <realtime_tools/realtime_publisher.h>
00044 #include <std_msgs/Header.h>
00045 #include <boost/scoped_ptr.hpp>
00046 
00053 namespace controller
00054 {
00055 class MultiTriggerController : public pr2_controller_interface::Controller
00056 {
00057 typedef ethercat_trigger_controllers::MultiWaveform config_t;
00058 public:
00059   MultiTriggerController();
00060 
00061   ~MultiTriggerController();
00062 
00063   void update();
00064 
00065   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00066 
00067 private:
00068   boost::mutex config_mutex_; // Held while config_ is changing.
00069 
00070   bool setMultiWaveformSrv(
00071       ethercat_trigger_controllers::SetMultiWaveform::Request &req,
00072       ethercat_trigger_controllers::SetMultiWaveform::Response &resp);
00073 
00074   pr2_mechanism_model::RobotState *robot_;
00075   pr2_hardware_interface::DigitalOutCommand *digital_out_command_;
00076 
00077   // Information about the next transition
00078   double transition_time_;
00079   double transition_period_;
00080   unsigned int transition_index_;
00081 
00082   ros::ServiceServer set_waveform_handle_;
00083   ros::NodeHandle node_handle_;
00084   ros::Publisher waveform_;
00085 
00086   std::vector<boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Header> > > pubs_;
00087 
00088   // Configuration of controller.
00089   config_t config_;
00090   std::string digital_output_name_;
00091 };
00092 
00093 };
00094 
00095 #endif
00096 


ethercat_trigger_controllers
Author(s): Blaise Gassend
autogenerated on Fri Jan 3 2014 11:41:29